CN114601384A - Control method for floor washing machine and floor washing machine - Google Patents
Control method for floor washing machine and floor washing machine Download PDFInfo
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- CN114601384A CN114601384A CN202210302165.9A CN202210302165A CN114601384A CN 114601384 A CN114601384 A CN 114601384A CN 202210302165 A CN202210302165 A CN 202210302165A CN 114601384 A CN114601384 A CN 114601384A
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- 238000000034 method Methods 0.000 title claims abstract description 98
- 238000005406 washing Methods 0.000 title claims abstract description 86
- 238000004140 cleaning Methods 0.000 claims abstract description 257
- 239000002689 soil Substances 0.000 claims abstract description 63
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 238000013102 re-test Methods 0.000 claims abstract description 22
- 238000001035 drying Methods 0.000 claims description 122
- 238000011109 contamination Methods 0.000 claims description 62
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 37
- 230000000694 effects Effects 0.000 description 20
- 238000005507 spraying Methods 0.000 description 9
- 238000010438 heat treatment Methods 0.000 description 7
- 239000007921 spray Substances 0.000 description 7
- 230000002349 favourable effect Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 239000013505 freshwater Substances 0.000 description 3
- 239000003673 groundwater Substances 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 244000007853 Sarothamnus scoparius Species 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
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- Control Of Washing Machine And Dryer (AREA)
Abstract
The invention relates to a control method for a floor washing machine and the floor washing machine. The scrubber machine includes pre-cleaning and post-cleaning soil detectors. The control method comprises the following steps: respectively detecting the dirt degrees of a first position before cleaning and a second position after cleaning by a dirt detector before cleaning, and detecting the dirt degree of the first position after cleaning by a dirt detector after cleaning; determining first and second degrees of soiling of the first and second positions, respectively, based on the detection results of the first and second positions, and determining a retest degree of soiling thereof based on the detection results of the cleaned first position; determining a first cleaning force based on the first degree of soiling and cleaning the first location; judging whether the second dirt degree is equal to the first dirt degree; if so, judging whether the retested dirt degree is greater than or equal to a preset dirt threshold value; when the judgment is yes, the preset cleaning force is increased on the basis of the first cleaning force so as to clean the second position for the preset cleaning time. The method can automatically adjust cleaning force.
Description
Technical Field
The invention relates to the technical field of floor washers, in particular to a control method for a floor washer and the floor washer.
Background
Along with the development of economy and the progress of society, the requirements of people on the quality of life are higher and higher, household floor cleaning tools are not limited to a broom, a mop, a dust collector and the like any more, nowadays more and more families start to select a floor washing machine as a household cleaning tool in order to ensure the cleaning efficiency and the cleaning quality, and the popularization of the floor washing machine brings great convenience to the life of people.
The floor cleaning machine integrates the functions of sweeping, mopping and dust collection, and has the advantages of convenience, high efficiency, high cleaning force, no hand contamination and the like. No matter dry garbage or wet garbage is on the ground, the floor cleaning machine is only required to be dragged to move on the ground to be cleaned, a floor brush of the floor cleaning machine can drive the floor cleaning machine to rotate through a motor so as to clean the ground, and meanwhile, a fan on the machine body generates negative pressure to suck stains into a sewage tank, so that the dry and wet garbage on the ground can be completely cleaned in one network. The floor cleaning machine can also realize the hand-free cleaning of mops, liberates the hands of users and helps people to more easily finish the sweeping and mopping tasks.
However, in actual operation, when brushing the ground, the user is often required to repeatedly scrub and wash the large stubborn dirt on the ground, so that the stubborn dirt can be brushed off from the ground, the floor scrubber cannot autonomously identify the large stubborn dirt, and the cleaning force cannot be autonomously adjusted according to the dirt degree and the cleaning effect of the ground to complete ground cleaning.
Therefore, there is a need in the art for a new solution to the above problems.
Disclosure of Invention
In order to solve the problems in the prior art, namely to solve the technical problems that the floor washing machine in the prior art cannot automatically identify large stubborn dirt and cannot automatically adjust the cleaning force according to the dirt degree and the cleaning effect of the ground, the invention provides a control method for the floor washing machine. The floor washing machine includes a pre-cleaning soil detector and a post-cleaning soil detector, and the control method includes:
detecting, by the pre-cleaning soil detector and the post-cleaning soil detector, soil levels at a first position before and a second position after the cleaning, respectively, along a cleaning path traveled by the floor washing machine, and detecting, by the post-cleaning soil detector, a soil level at the first position after the cleaning;
determining a first degree of soiling of the first location and a second degree of soiling of the second location, respectively, based on the detection results of the first and second locations, and determining a retest degree of soiling of the first location after cleaning, based on the detection results of the first location after cleaning;
determining a first cleaning force based on the first degree of soiling and cleaning the first location;
judging whether the second contamination degree is equal to the first contamination degree;
when the second dirt degree is equal to the first dirt degree, judging whether the re-measured dirt degree is greater than or equal to a preset dirt threshold value;
and when the retest dirt degree is larger than or equal to the preset dirt threshold value, increasing a preset cleaning force on the basis of the first cleaning force to clean the second position for a preset cleaning time.
It will be appreciated by those skilled in the art that in the control method for a scrubber of the present invention, the scrubber will clean a first, forward position and then a second, rearward position along the cleaning path traveled by the scrubber. Before cleaning the first position, the dirt degree detector firstly detects the dirt degree of the first position before cleaning, determines the first dirt degree based on the detection result, and determines the first cleaning force based on the first dirt degree so as to clean the first position by the first cleaning force. After the cleaning is obtained at the first position, the contamination degree detection is performed on the cleaned first position by the post-cleaning detector, and the retest contamination degree is determined based on the detection result. Then, the floor washing machine is moved to a second position, the pre-cleaning soil level detector detects the soil level at the second position, and a second soil level at the second position is determined based on the detection result. When the second dirt degree is equal to the first dirt degree and the retest dirt degree is greater than or equal to the preset dirt threshold value, the condition that stubborn dirt with the same or similar dirt degree exists on the ground is meant, and the first cleaning force is not enough to clean the dirt. At this time, the scrubber will increase the preset cleaning power on the basis of the first cleaning power to clean the second location for the preset cleaning time. Through the arrangement, the control method for the floor washing machine can automatically identify the pieces of stubborn dirt, and can automatically adjust the proper cleaning force according to the dirt degree and the cleaning effect of the ground, so that the pieces of stubborn dirt can be treated as clean as possible.
In a preferable embodiment of the control method for a floor washing machine, when the second degree of soiling is not equal to the first degree of soiling, a second cleaning force is determined based on the second degree of soiling and the second position is cleaned. When the second dirt degree is larger or smaller than the first dirt degree, the dirt degree of the second position on the ground is different from that of the first position, and therefore the second position is cleaned with the cleaning force matched with the actual dirt degree of the second position. Meanwhile, whether the ground has the same or similar stains can be judged through the arrangement.
In a preferable technical solution of the control method for a floor washing machine, when the retest soil degree is less than the preset soil threshold value, the second position is cleaned based on the first cleaning force. When the re-measured dirt level is less than the preset dirt threshold, it means that the cleaning effect of the first position has reached an ideal state, i.e. the first cleaning force is sufficient to treat the floor with the dirt level conforming to the first dirt level, so that the first cleaning force is maintained to clean the second position to treat the dirt.
In the preferable technical scheme of the control method for the floor washing machine, the dirt degrees are divided into a first-level dirt degree, a second-level dirt degree, a third-level dirt degree, a fourth-level dirt degree and a fifth-level dirt degree from low to high; the cleaning force is divided into a first-level cleaning force, a second-level cleaning force, a third-level cleaning force, a fourth-level cleaning force and a fifth-level cleaning force according to the sequence from low to high. Through foretell setting, become dirty degree and clean dynamics into five grades, adopt the clean dynamics to using the grade to the dirty ground of different degrees, when reaching clean purpose, be favorable to reducing the energy consumption to the life of extension floor cleaning machine.
In an optimal technical solution of the control method for a floor washing machine, when the first cleaning force is the primary cleaning force, the secondary cleaning force, the tertiary cleaning force or the quaternary cleaning force, the preset cleaning force is one cleaning force level. When the cleaning effect of the first position is not ideal and the cleaning force does not reach the highest level, the cleaning force level is improved on the basis of the first cleaning force to clean the second position. This arrangement makes it possible to determine whether the scrubber can raise the cleaning power level.
In the preferable technical scheme of the control method for the floor washing machine, when the first cleaning force is the fifth-level cleaning force, the preset cleaning force is zero, and the control method gives a prompt to a user. When the cleaning effect at the first position is not ideal and the cleaning force reaches the highest level, the floor cleaning machine cannot improve the cleaning force any more, so that the user is reminded that the ground is dirty and cannot be cleaned. Through foretell setting, when the floor cleaning machine can't come the clean time of ground spot through promoting clean dynamics grade, can send the warning to the user, it is more intelligent.
In a preferable technical solution of the control method for a floor washing machine, the preset dirty threshold is the first-level dirty degree. When the dirty degree testing result on ground is less than one-level dirty degree, it is clean to represent ground promptly, through foretell setting, can make floor cleaning machine judge whether current clean dynamics is suitable.
In a preferred technical solution of the above-mentioned control method for a floor washing machine, the cleaning force is determined based on a clean water spray amount and a rotational speed of a drum brush motor. Through foretell setting, handle the dirty ground that different dirty degree grades and dirty the clear water that can use corresponds and spray volume and round brush motor speed, be favorable to on the basis of guaranteeing clean effect, realize the saving of the energy and the life of extension motor.
In the preferable technical scheme of the control method for the floor washing machine, the preset cleaning time is any value within 2 seconds to 10 seconds. Through foretell setting, maintain the clean dynamics after the certain time improves and clean ground, be favorable to guaranteeing that clean effect reaches the ideal state.
In a preferred embodiment of the control method for a floor washing machine, the floor washing machine includes a pre-drying humidity detector and a post-drying humidity detector, and the control method further includes:
detecting the humidity of the first position and the second position by the pre-drying humidity detector, and detecting the humidity of the first position after drying by the post-drying humidity detector;
determining a first humidity of the first position and a second humidity of the second position based on the detection results of the first position and the second position, respectively, and determining a retest humidity of the dried first position based on the detection result of the dried first position;
determining a first drying strength based on the first humidity and drying the first position;
determining whether the second humidity is equal to the first humidity;
when the second humidity is equal to the first humidity, judging whether the retest humidity is greater than or equal to a preset humidity threshold value;
and when the retest humidity is larger than or equal to the preset humidity threshold value, increasing preset drying force on the basis of the first drying force so as to dry the second position and continuously set the drying time. Through foretell setting, the scrubber can be left water stain after clean and dry to ground to according to the different humidity on ground and the corresponding stoving dynamics of stoving effect matching, and then guarantee that the stoving effect reaches the ideal state, solved the scrubber and stayed the problem that water stain behind clean ground easily.
In a preferred technical solution of the control method for a scrubber, when the second humidity is not equal to the first humidity, a second drying force is determined based on the second humidity and the second position is dried. When the second humidity is greater than or less than the first humidity, the humidity of the second position on the ground is different from that of the first position, and therefore the second humidity is dried by adopting the corresponding second drying force. Meanwhile, whether the ground has even or similar water stains can be judged through the arrangement.
In the preferable technical scheme of the control method for the floor washing machine, when the retested humidity is smaller than the preset humidity threshold value, the second position is dried based on the first drying force. When retest humidity is less than the predetermined humidity threshold value, it has reached the ideal state to explain the stoving effect of first position, and first stoving dynamics is enough to handle the ground that humidity accords with first humidity promptly, maintains first stoving dynamics and dries to the second position and can handle the water stain.
In a preferred technical solution of the control method for a scrubber, the humidity is divided into a first-level humidity, a second-level humidity, a third-level humidity, a fourth-level humidity and a fifth-level humidity in order from low to high; the drying force is divided into a first-level drying force, a second-level drying force, a third-level drying force, a fourth-level drying force and a fifth-level drying force according to the sequence from low to high. Through foretell setting, be five grades with humidity and stoving dynamics refinement, adopt the stoving dynamics that corresponds the grade to the ground water stain of different degree, when reaching the stoving purpose, be favorable to reducing the energy consumption to the life of extension floor cleaning machine.
In an optimal technical scheme of the control method for the floor washing machine, when the first drying power is the primary drying power, the secondary drying power, the tertiary drying power or the quaternary drying power, the preset drying power is one drying power grade. When the stoving effect of first position is unsatisfactory to the stoving dynamics does not reach the highest grade, promotes a stoving dynamics grade and dries to the second position on the basis of first stoving dynamics.
In the preferable technical scheme of the control method for the floor washing machine, when the first drying power is the five-level drying power, the preset drying power is zero, and the control method gives a prompt to a user. Through foretell setting, when the unable stoving dynamics grade that promotes of scrubber comes ground water stain stoving, can send the warning to the user, it is more intelligent.
In a preferable technical scheme of the control method for the floor washing machine, the preset humidity threshold is the first-level humidity. When the humidity detection result on the ground is less than the primary humidity, the ground is represented to have no water stain, and whether the drying force accords with the actual requirement or not can be judged by the floor washing machine through the arrangement.
In a preferred technical scheme of the control method for the floor washing machine, the drying force is determined based on the air volume of the fan and the power of the heating device. Through foretell setting, when handling the ground water stain of different humidity, use different fan amount of wind and heating device's power, on the basis of guaranteeing the stoving effect, be favorable to the saving of the energy and the life of extension machine.
In the preferable technical scheme of the control method for the floor washing machine, the preset drying time is any value within 2 seconds to 10 seconds. Through foretell setting, maintain the stoving dynamics after the certain time improves and dry to ground, be favorable to the guarantee stoving effect to reach the ideal state.
In order to solve the problems in the prior art, namely to solve the technical problems that the floor washing machine in the prior art cannot automatically identify large stubborn dirt and cannot automatically adjust the cleaning force according to the dirt degree and the cleaning effect of the ground, the invention provides the floor washing machine. The floor washing machine includes a pre-cleaning soil detector, a post-cleaning soil detector, a pre-drying humidity detector, and a post-drying humidity detector, and employs the control method for the floor washing machine according to any one of the above. Through the arrangement, the floor washing machine can identify large stubborn dirt, and can clean the stubborn dirt by matching proper cleaning force according to the dirt degree and the cleaning effect of the ground so as to achieve an ideal cleaning state.
Further, this floor cleaning machine can dry to the ground after the cleanness, matches suitable stoving dynamics according to the humidity and the stoving effect on ground to guarantee that the water stain that leaves after the cleanness can be dried.
In a preferred embodiment of the floor washing machine, the pre-cleaning soil detector and the post-cleaning soil detector are configured to obtain soil parameters or soil pictures of the floor. Through foretell setting, the dirty information that scrubber can acquire ground and then judge the dirty degree on ground.
In the preferred technical scheme of the floor washing machine, the humidity detector before drying and the humidity detector after drying are configured to acquire the humidity parameters or water stain pictures of the ground. Through foretell setting, the scrubber can acquire the humidity information on ground and then judge the degree of drying on ground.
detecting, by the pre-cleaning soil detector and the post-cleaning soil detector, soil levels at a first position before and a second position after the cleaning, respectively, along a cleaning path traveled by the floor washing machine, and detecting, by the post-cleaning soil detector, a soil level at the first position after the cleaning;
determining a first degree of soiling of the first location and a second degree of soiling of the second location, respectively, based on the detection results of the first and second locations, and determining a retest degree of soiling of the first location after cleaning, based on the detection results of the first location after cleaning;
determining a first cleaning force based on the first degree of soiling and cleaning the first location;
judging whether the second contamination degree is equal to the first contamination degree;
when the second dirt degree is equal to the first dirt degree, judging whether the re-measured dirt degree is greater than or equal to a preset dirt threshold value;
and when the retest dirt degree is larger than or equal to the preset dirt threshold value, increasing a preset cleaning force on the basis of the first cleaning force to clean the second position for a preset cleaning time.
Scheme 3. the control method for a floor washing machine according to scheme 1, wherein when the retest soil degree is less than the preset soil threshold, the second position is cleaned based on the first cleaning force.
Scheme 4. the control method for a floor washing machine according to scheme 1, wherein the degree of soiling is divided into a first degree of soiling, a second degree of soiling, a third degree of soiling, a fourth degree of soiling, and a fifth degree of soiling, in that order from low to high; the cleaning force is divided into a first-level cleaning force, a second-level cleaning force, a third-level cleaning force, a fourth-level cleaning force and a fifth-level cleaning force according to the sequence from low to high.
Scheme 5. the control method for a floor washing machine according to scheme 4, wherein the preset cleaning force is one of the cleaning force grades when the first cleaning force is the primary cleaning force, the secondary cleaning force, the tertiary cleaning force, or the quaternary cleaning force.
Scheme 6. the control method for a floor washing machine according to scheme 5, characterized in that when the first cleaning force is the level five cleaning force, the preset cleaning force is zero, and the control method gives a prompt to the user.
Scheme 7. the control method for the floor washing machine according to the scheme 4, characterized in that the preset dirt threshold is the first-level dirt degree.
Scheme 8. the control method for a floor washing machine according to scheme 4, characterized in that the cleaning force is determined based on the clean water spray amount and the rotational speed of the drum brush motor.
Scheme 9. the control method for a floor washing machine according to scheme 1, wherein the preset cleaning time is any value within 2 seconds to 10 seconds.
detecting the humidity of the first position and the second position by the pre-drying humidity detector, and detecting the humidity of the first position after drying by the post-drying humidity detector;
determining a first humidity of the first position and a second humidity of the second position based on the detection results of the first position and the second position, respectively, and determining a retest humidity of the dried first position based on the detection result of the dried first position;
determining a first drying power based on the first humidity and drying the first position;
determining whether the second humidity is equal to the first humidity;
when the second humidity is equal to the first humidity, judging whether the retest humidity is greater than or equal to a preset humidity threshold value;
and when the retest humidity is larger than or equal to the preset humidity threshold value, increasing preset drying force on the basis of the first drying force so as to dry the second position and continuously set the drying time.
Scheme 11. the control method for the scrubber according to scheme 10, characterized in that when the second humidity is not equal to the first humidity, a second drying power is determined based on the second humidity and the second position is dried.
Scheme 12. the control method for the scrubber according to scheme 10, characterized in that when the retested humidity is less than the preset humidity threshold, drying is performed on the second position based on the first drying power.
Scheme 14. the control method for a floor washing machine according to scheme 13, wherein the preset drying power is one of the drying power classes when the first drying power is the primary drying power, the secondary drying power, the tertiary drying power, or the quaternary drying power.
Scheme 16. the control method for a scrubber according to scheme 13, wherein the preset humidity threshold is the primary humidity.
Solution 20. the scrubber of solution 19, wherein the pre-cleaning soil detector and the post-cleaning soil detector are configured to obtain soil parameters of the floor or a soil picture of the floor.
Scheme 21. the scrubber of scheme 19, wherein the pre-drying moisture detector and the post-drying moisture detector are configured to obtain a humidity parameter or water stain picture of the ground.
Drawings
Preferred embodiments of the present invention are described below in conjunction with the appended drawings, wherein:
FIG. 1 is a schematic view of the travel path of the scrubber of the present invention;
FIG. 2 is a flow chart of a control method for a scrubber of the present invention;
FIG. 3 is a flow chart of a first embodiment of a control method for a scrubber of the present invention;
FIG. 4 is a flow chart of a second embodiment of the control method for a scrubber of the present invention;
FIG. 5 is a graph showing the relationship between the cleaning force and the spraying amount of the fresh water and the rotational speed of the brush motor in the first embodiment of the control method for a floor washing machine according to the present invention;
fig. 6 is a graph showing the relationship between the drying power, the air volume of the fan and the power of the heating device in the second embodiment of the control method for the floor washing machine according to the present invention.
List of reference numerals:
1. a floor washing machine; 2. a ground surface; p1, first position; p2, second position.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The invention provides a control method for a floor washing machine, which aims to solve the technical problems that the floor washing machine in the prior art cannot automatically identify large stubborn dirt and cannot automatically adjust the cleaning force according to the dirt degree and the cleaning effect of the ground. The floor washing machine includes a pre-cleaning soil detector and a post-cleaning soil detector, and the control method includes:
detecting a degree of contamination at a first position before and a degree of contamination at a second position after the cleaning by the pre-cleaning contamination detector, respectively, along a cleaning path traveled by the floor washing machine, and detecting a degree of contamination at the first position after the cleaning by the post-cleaning contamination detector (step S1);
determining a first degree of contamination of the first position and a second degree of contamination of the second position based on the detection results of the first position and the second position, respectively, and determining a retest degree of contamination of the first position after cleaning based on the detection result of the first position after cleaning (step S2);
determining a first cleaning power based on the first degree of contamination and cleaning the first position (step S3);
determining whether the second degree of contamination is equal to the first degree of contamination (step S4);
when the second degree of contamination is equal to the first degree of contamination, determining whether the retested degree of contamination is greater than or equal to a preset contamination threshold (step S5);
when the retest stain degree is greater than or equal to a preset stain threshold, increasing a preset cleaning force on the basis of the first cleaning force to clean the second position for a preset cleaning time (step S6).
In one or more embodiments, scrubber 1 includes, but is not limited to, a cleaning module, a drying module, an MCU controller, an integrated driver, and a voice module. Wherein, the cleaning module comprises two dirty degree detectors, a clean water tank, a clean water spray head which can form fluid communication with the clean water tank, and a rolling brush. The two soiling degree detectors are arranged on the front side and the rear side of the scrubber 1, respectively, and are in communication connection with the MCU controller. The MCU controller is also used for controlling the clear water spray head, the integrated driver and the voice module. The drying module comprises two humidity detectors, a fan and a heating device. The two moisture detectors are arranged on the front side and the rear side of the scrubber 1 respectively and are in communication connection with the MCU controller. The MCU controller is also used for controlling the fan and the heating device. In an alternative embodiment, scrubber 1 may eliminate the drying module.
FIG. 1 is a schematic view of the travel path of the scrubber of the present invention. In one or more embodiments, the travel path is a forward travel path. As shown in FIG. 1, in one or more embodiments, scrubber 1 is moved along a travel path from a first position P1 to a second position P2 of floor 2, i.e., the scrubber 1 is pushed forward in a forward direction. The first position P1 is spaced a predetermined distance from the second position P2. For example, the first position P1 is spaced 10cm, 20cm, 30cm or other distances from the second position P2 as may be desired. At this time, the stain degree detector (not shown) located on the front side of the floor washing machine 1 (the left side based on the orientation shown in fig. 1) is a pre-cleaning stain degree detector, and the stain degree detector (not shown) located on the rear side of the floor washing machine 1 (the right side based on the orientation shown in fig. 1) is a post-cleaning stain degree detector; and the moisture detector (not shown) located at the front side of the scrubber 1 is a pre-drying moisture detector, and the moisture detector (not shown) located at the rear side of the scrubber 1 is a post-drying moisture detector. In an alternative embodiment, the travel path of the scrubber 1 is a reverse path to reverse. Accordingly, the scrubber 1 is moved from the second position P2 to the first position P1, i.e. in case the scrubber 1 is towed back. At this time, the dirt degree detector positioned on the front side of the floor washing machine 1 is a post-cleaning dirt degree detector, and the dirt degree detector positioned on the rear side of the floor washing machine 1 is a pre-cleaning dirt degree detector; and the moisture detector positioned at the front side of the scrubber 1 is a moisture detector after drying, and the moisture detector positioned at the rear side of the scrubber 1 is a moisture detector before drying.
FIG. 2 is a flow chart of a control method for a scrubber according to the present invention. As shown in fig. 2, in one or more embodiments, when the control method for the floor washing machine 1 of the present invention is started, step S1 is first performed, i.e., the degree of contamination of the first position P1 before cleaning and the degree of contamination of the second position P2 after cleaning are detected by the before-cleaning contamination detector and the degree of contamination of the first position P1 after cleaning is detected by the after-cleaning contamination detector, respectively, along the cleaning path of the floor washing machine 1. Next, step S2 is performed, i.e., a first degree of contamination of the first position P1 is determined based on the detection result of the first position P1, a second degree of contamination of the second position P2 is determined based on the detection result of the second position P2, and a second degree of contamination of the first position P1 after cleaning is determined based on the detection result of the first position P1 after cleaning. Then, a first cleaning force is determined based on the first degree of contamination, and the first position P1 is cleaned (step S3). In addition, the control method performs step S4 to determine whether the second contamination degree is equal to the first contamination degree. Then, when the determination result is yes, that is, the second contamination degree is equal to the first contamination degree, the control method proceeds to step S5, that is, it is determined whether the retest contamination degree is equal to or greater than a preset contamination threshold value. If so, i.e., the re-measured contamination degree is greater than or equal to the preset contamination threshold, the control method proceeds to step S6, where the preset cleaning force is increased based on the first cleaning force to clean the second position P2 for the preset cleaning time.
FIG. 3 is a flow chart of a first embodiment of a control method for a scrubber of the present invention. In one or more embodiments, as shown in fig. 3, the scrubber 1 reaches the first position P1 on the floor 2 along the forward cleaning path, and the control method for the scrubber 1 starts by first performing step S111, i.e. detecting the soil parameter of the first position P1 or obtaining a soil picture of the first position P1 by the pre-cleaning soil detector. Then, step S211 is executed to determine a first contamination degree based on the contamination parameter or the contamination picture of the first position P1. In one or more embodiments, two dirty degree detectors of the floor washing machine 1 are provided with cameras, and the dirty degree detectors acquire dirty pictures of the first position P1 on the front ground through the cameras and transmit the dirty pictures back to the MCU controller. A plurality of dirty pictures are prestored in the MCU controller, and different dirty pictures correspond to different dirty degree grades. The MCU controller compares the received dirty picture with a pre-stored picture in the system, and determines a first dirty degree at the first position P1. Specifically, the dirt level is divided into five levels, which are respectively a first level, a second level, a third level, a fourth level and a fifth level from low to high. In an alternative embodiment, the two soil level detectors of the scrubber 1 use a mass sensor to obtain a soil parameter, i.e. the soil mass per unit area, of the first position P1 of the front floor 2 and transmit the soil parameter back to the MCU-controller. The MCU controller determines a first degree of soiling of the first position P1 based on the received soiling parameter. Specifically, the dirt level is divided into five levels, which are respectively a first level, a second level, a third level, a fourth level and a fifth level from low to high. For example, when the soil mass per 1 square centimeter of the ground is greater than 0g and equal to or less than 30g, the ground soil grade is one level; when the mass of the dirt on the ground per 1 square centimeter is more than 30g and less than or equal to 60g, the dirt grade of the ground is two-stage; when the mass of the dirt on every 1 square centimeter of ground is more than 60g and less than or equal to 90g, the dirt level of the ground is three levels; when the mass of the dirt on every 1 square centimeter of ground is more than 90g and less than or equal to 150g, the level of the dirt on the ground is four; when the dirt mass per 1 square centimeter of ground is more than 150g and less than or equal to 200g, the level of the dirt degree of the ground is five. It will be appreciated that the amount of fouling per unit area corresponding to different fouling levels may be adjusted according to actual design requirements. In alternative embodiments, the floor soiling level may also be divided into four levels, or into six levels, or into another number of levels that meets the actual requirements. In an alternative embodiment, infrared detection means are provided on both soiling level detectors of the floor washing machine 1. The infrared detection device can emit infrared rays and receive reflected light or scattered light, and then return the received reflected light or scattered light parameters to the MCU controller. The MCU controller analyzes the received data and determines a first degree of soiling of the first position P1. Alternatively, the contamination level detector may use a laser detection device. Then, step S31 is executed, in which a first cleaning force is determined based on the first degree of contamination and the first position is cleaned with the first cleaning force. The cleaning force is divided into five grades, namely a first grade, a second grade, a third grade, a fourth grade and a fifth grade from low to high. Generally, five levels of cleaning force correspond to five levels of contamination degree one to one (as shown in fig. 5), that is, when the contamination degree is one level, a first level cleaning force is selected; when the dirt degree is in a second level, selecting a second level cleaning force; when the degree of dirt is three, selecting three-level cleaning force; when the dirt degree is four levels, selecting four levels of cleaning force; when the degree of dirt is five grades, the cleaning force of five grades is selected.
FIG. 5 is a graph showing the relationship between the cleaning force and the spraying amount of the fresh water and the rotational speed of the brush motor in the first embodiment of the control method for a floor washing machine according to the present invention. As shown in FIG. 5, in one or more embodiments, the cleaning effort is determined based on the fresh water spray volume and the rotational speed of the drum brush motor. Specifically, when the cleaning force is of one level, the corresponding clear water spraying amount is 10ml/min, and the rotating speed of a roller brush motor is 2000 r/min; when the cleaning force is two-stage, the corresponding clear water spraying amount is 18ml/min, and the rotating speed of the roller brush motor is 4000 r/min; when the cleaning force is three-level, the corresponding clear water spraying amount is 26ml/min, and the rotating speed of the rolling brush motor is 6000 r/min; when the cleaning force is four stages, the corresponding clear water spraying amount is 32ml/min, and the rotating speed of the roller brush motor is 7800 r/min; when the cleaning force is five grades, the corresponding clear water spraying amount is 40ml/min, and the rotating speed of the roller brush motor is 9300 r/min. Obviously, as the cleaning force is increased, the spraying amount of the clean water and the rotating speed of the roller brush motor are correspondingly increased.
Continuing to refer to fig. 3, when step S31 is executed, the MCU controller determines a first cleaning force based on the first degree of soiling, and transmits the clean water spraying amount and the rotational speed parameter of the roll brush motor corresponding to the first cleaning force to the integrated driver, and the integrated driver controls the clean water tank valve according to the received parameters, so that the clean water tank sprays the amount of water corresponding to the parameters through the clean water nozzle. Meanwhile, the integrated driver controls the roller brush motor to output a corresponding motor speed so as to rotate the roller brush, and the first position P1 is cleaned. After the cleaning of the first position P1 is completed, the control method performs step S112, i.e. the dirty parameter of the cleaned first position P1 is detected by the cleaned dirty detector or a dirty picture of the cleaned first position P1 is acquired. Then, step S212 is performed to determine the re-measured contamination level of the cleaned first position P1 based on the contamination parameter or the contamination picture of the cleaned first position P1. Next, the floor cleaning machine 1 proceeds from the first position P1 to the second position P2, and step S113 is executed, in which the pre-cleaning soil detector detects the soil parameter of the second position P2 or acquires a soil picture of the second position P2. Step S213 is executed again, i.e. a second contamination degree is determined based on the contamination parameter or the contamination picture of the second position P2. It is understood that the specific method for detecting the smudge parameter or acquiring the smudge image at the second position P2 and the specific method for determining the second smudge degree are the same as those described above at the first position P1, and therefore, the detailed description thereof is omitted here.
As shown in fig. 3, the control method proceeds to step S410 to determine whether the second contamination degree is equal to the first contamination degree. If the determination result is negative, it indicates that the degree of contamination of the second position P2 is different from the degree of contamination of the first position P1, and therefore the second position should be cleaned with a cleaning force matching the actual degree of contamination of the second position, that is, step S411 is executed to determine a second cleaning force based on the second degree of contamination and clean the second position with the second cleaning force. After step S411 is completed, the control method ends. If the determination result is yes, that is, the degree of soiling at the second position P2 is the same as the degree of soiling at the first position P1, indicating that there is stubborn dirt on the floor surface with the same or similar degree of soiling, step S510 is executed, that is, it is determined whether the measured degree of soiling is greater than or equal to one level. If the determination result is negative, which indicates that the cleaning effect of the first position P1 is ideal, that is, the first cleaning force is sufficient to deal with the first degree of contamination (and the second degree of contamination), step S512 is executed to clean the second position based on the first cleaning force. After step S512 is completed, the control method ends. If the determination result is yes, it indicates that the first cleaning force cannot clean the dirt corresponding to the first dirt degree (and the second dirt degree), step S511 is executed to determine whether the first cleaning force is equal to five levels. If the result of the determination is negative, step S61 is executed, i.e., a level is increased based on the first cleaning power to clean the second position P2 for 10 seconds. For example, when the first cleaning force is the first cleaning force, the second cleaning force is changed after increasing a cleaning force level. In alternative embodiments, the cleaning duration may be any value within 2 seconds to 10 seconds, as long as it is ensured that the floor is clean. After execution of step S61, the control method ends. If the determination result is yes, it indicates that the cleaning force level is the highest level when the first position P1 is cleaned, and the cleaning force level cannot be increased any more, so step S513 is executed to maintain the five-level cleaning force level and issue a voice prompt to remind the user. Specifically, the integrated driver transmits a signal to the voice module, and the voice module sends out a prompt: "Please note the dirty floor which cannot be cleaned". After completion of step S513, the control method ends.
FIG. 4 is a flow chart of a second embodiment of a control method for a scrubber of the present invention. As shown in FIG. 4, in one or more embodiments, the floor surface 2 is susceptible to water spotting after the floor cleaning machine 1 has cleaned the floor surface 2. Therefore, the scrubber 1 has a drying module that can dry the water stains remaining on the cleaned floor 2. When the control method for the floor washing machine 1 according to the present invention is started, step S121 is first executed, i.e. the humidity detector detects the humidity parameter of the first position P1 or obtains the water stain picture of the first position P1 before drying. Next, step S221 is executed, i.e., the first humidity is determined based on the humidity parameter or the humidity picture of the first position P1. In one or more embodiments, the two moisture detectors of the scrubber 1 are provided with cameras, and the moisture detectors acquire a moisture picture of the first position P1 on the ground 2 in front through the cameras and transmit the moisture picture back to the MCU controller. A plurality of humidity pictures are prestored in the MCU controller, different humidity pictures correspond to different humidity levels, the humidity levels are divided into five levels, and the five levels are respectively a first level, a second level, a third level, a fourth level and a fifth level from low to high. The MCU controller compares the received humidity image with a pre-stored image in the system, and determines a first humidity at a first position P1. In an alternative embodiment, both moisture detectors of scrubber 1 may acquire the moisture parameter of first position P1 on the front floor and transmit the moisture parameter back to the MCU controller. The MCU controller determines a first humidity at the first position P1 based on the received humidity parameters. Specifically, the humidity level is divided into five levels, which are first level, second level, third level, fourth level, and fifth level, respectively, in order from low to high. When the ground humidity parameter is more than 0 and less than or equal to 20%, the ground humidity level is first grade; when the ground humidity parameter is more than 20% and less than or equal to 40%, the ground humidity level is two-level; when the ground humidity parameter is more than 40% and less than or equal to 60%, the ground humidity level is three levels; when the ground humidity parameter is more than 60% and less than or equal to 80%, the ground humidity level is four levels; when the ground humidity parameter is greater than 80% and less than or equal to 100%, the ground humidity level is five levels. It is understood that the range of humidity parameters corresponding to different humidity levels can be adjusted according to actual design requirements. Alternatively, the ground humidity level may be divided into four levels, or six levels, or other number of levels that meet the actual design requirements. Then, step S32 is performed, in which the first drying power is determined based on the first humidity and the first position P1 is dried. The drying force is divided into five grades, namely a first grade, a second grade, a third grade, a fourth grade and a fifth grade from low to high. In general, five levels of the drying power correspond to five levels of the humidity one to one (as shown in fig. 6), that is, when the humidity is a first level, a first-level drying power is selected; when the humidity is the second level, the second level drying force is selected; when the humidity is in three levels, selecting three levels of drying force; when the humidity is in a fourth level, selecting a fourth level drying force; when the humidity is five-level, the five-level drying force is selected.
Fig. 6 is a graph showing the relationship between the drying power, the air volume of the fan and the power of the heating device in the second embodiment of the control method for the floor washing machine according to the present invention. In one or more embodiments, the drying power is determined based on the fan air volume and heater power, as shown in fig. 6. Specifically, when the drying force is first-level, the corresponding air volume of the fan is 13ml/min, and the power of the heater is 120W; when the drying force is of a second level, the air volume of a corresponding fan is 15ml/min, and the power of a heater is 180W; when the drying force is three-level, the corresponding air volume of the fan is 17ml/min, and the power of the heater is 240W; when the drying force is four stages, the corresponding air volume of the fan is 19ml/min, and the power of the heater is 300W; when the drying force is five-level, the corresponding air volume of the fan is 22ml/min, and the power of the heater is 360W. Obviously, as the drying force is increased, the air quantity of the fan and the power of the heater are correspondingly increased.
With continued reference to fig. 4, when step S32 is executed, the MCU controller determines a first drying force based on the first humidity, and transmits the parameters of the blower air volume and the heater power corresponding to the first drying force to the integrated driver, and the integrated driver controls the blower and the heater to dry the cleaned first position P1 according to the received parameters. After the drying is completed for the first position P1, the control method proceeds to step S122, i.e. the humidity parameter of the dried first position P1 is detected by the humidity detector after drying or a water stain picture of the dried first position P1 is obtained. Then, step S222 is executed, namely, the retested humidity of the dried first position is determined based on the humidity parameter or the water stain picture of the dried first position P1. Next, the floor washing machine 1 moves to the second position P2, and step S123 is executed, in which the humidity sensor detects the humidity parameter of the second position P2 or obtains the water stain picture of the second position P2. Step S223 is performed again, that is, the second humidity is determined based on the humidity parameter or the water stain picture of the second position P2. It is understood that the specific manner of detecting the humidity parameter or acquiring the humidity image at the second position P2 and the specific method of determining the second humidity are the same as those described above at the first position P1, and are not repeated herein.
As shown in fig. 4, the control method proceeds to step S420 to determine whether the second humidity is equal to the first humidity. If the determination result is negative, it indicates that the humidity at the second position P2 is different from the humidity at the first position P1, and therefore, the second position P2 should be dried with a corresponding drying power, that is, step S421 is executed to determine a second drying power based on the second humidity and dry the second position P2 with the second drying power. After step S421 is completed, the control method ends. If the determination result is yes, which indicates that the humidity at the second position P2 is the same as the humidity at the first position P1 and the floor 2 has a lot of uniform or similar water stains, step S520 is executed, i.e., it is determined whether the retest humidity is greater than or equal to one level. If the determination result is negative, which indicates that the drying effect of the first position P1 is ideal, that is, the first drying strength is sufficient to deal with the first humidity (and the second humidity), step S522 is executed to dry the second position P2 based on the first drying strength. After step S522 is completed, the control method ends. If the determination result is yes, it indicates that the first drying force cannot dry the water stain corresponding to the first humidity (and the second humidity), step S521 is executed to determine whether the first drying force is equal to the fifth level. If the judgment result is no, step S62 is executed, i.e. a level is added on the basis of the first drying power to dry the second position P2 for 10 seconds. For example, when the first drying power is the first-level drying power, the first-level drying power is changed into the second-level drying power after increasing one drying power level. In an alternative embodiment, the continuous drying time may be any value within 2 seconds to 10 seconds as long as it is ensured that the ground 2 is dried. After execution of step S62, the control method ends. If the determination result is yes, it indicates that the drying power is already at the highest level when the first position P1 is dried, and the drying power level cannot be raised any more, so step S523 is executed to maintain the five-level drying power and send a voice prompt to prompt. Specifically, the integrated driver transmits a signal to the voice module, and the voice module sends out a prompt: please note that there is water stain on the ground which can not be dried. After completion of step S523, the control method ends. It should be noted that the above control method may be repeatedly performed during the operation of the scrubber.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. A control method for a floor washing machine, characterized in that the floor washing machine includes a pre-cleaning soil detector and a post-cleaning soil detector, and the control method includes:
detecting, by the pre-cleaning soil detector and the post-cleaning soil detector, soil levels at a first position before and a second position after the cleaning, respectively, along a cleaning path traveled by the floor washing machine, and detecting, by the post-cleaning soil detector, a soil level at the first position after the cleaning;
determining a first degree of soiling of the first location and a second degree of soiling of the second location, respectively, based on the detection results of the first and second locations, and determining a retest degree of soiling of the first location after cleaning, based on the detection results of the first location after cleaning;
determining a first cleaning power based on the first degree of soiling and cleaning the first location;
judging whether the second contamination degree is equal to the first contamination degree;
when the second dirt degree is equal to the first dirt degree, judging whether the re-measured dirt degree is greater than or equal to a preset dirt threshold value;
and when the retest dirt degree is larger than or equal to the preset dirt threshold value, increasing a preset cleaning force on the basis of the first cleaning force to clean the second position for a preset cleaning time.
2. The control method for a floor washing machine according to claim 1, characterized in that when the second degree of soiling is not equal to the first degree of soiling, a second cleaning effort is determined and the second position is cleaned on the basis of the second degree of soiling.
3. The control method for a floor scrubber according to claim 1, wherein the second position is cleaned based on the first cleaning force when the re-measured soil level is less than the preset soil threshold.
4. The control method for a floor washing machine according to claim 1, wherein the degree of soiling is divided into a primary degree of soiling, a secondary degree of soiling, a tertiary degree of soiling, a quaternary degree of soiling, and a quinary degree of soiling, in order from low to high; the cleaning force is divided into a first-level cleaning force, a second-level cleaning force, a third-level cleaning force, a fourth-level cleaning force and a fifth-level cleaning force according to the sequence from low to high.
5. The control method for a floor washing machine according to claim 4, wherein the preset cleaning power is one of the cleaning power levels when the first cleaning power is the primary cleaning power, the secondary cleaning power, the tertiary cleaning power, or the quaternary cleaning power.
6. The control method for a floor washing machine as claimed in claim 5, wherein the preset cleaning power is zero when the first cleaning power is the level five cleaning power, and the control method issues a reminder to a user.
7. The control method for a floor washing machine according to claim 4, wherein the preset soiling threshold is the primary soiling level.
8. A floor washing machine comprising a pre-cleaning soil detector, a post-cleaning soil detector, a pre-drying humidity detector, and a post-drying humidity detector, and employing the control method for a floor washing machine according to any one of claims 1 to 7.
9. The floor scrubber of claim 8, wherein the pre-cleaning soil detector and the post-cleaning soil detector are configured to obtain a soil parameter of the floor or a soil picture of the floor.
10. The scrubber of claim 8, wherein the pre-dryer moisture detector and the post-dryer moisture detector are configured to obtain a moisture parameter or water stain picture of the floor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115104974A (en) * | 2022-07-07 | 2022-09-27 | 添可智能科技有限公司 | Cleaning equipment control method and cleaning equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115104974A (en) * | 2022-07-07 | 2022-09-27 | 添可智能科技有限公司 | Cleaning equipment control method and cleaning equipment |
| CN115104974B (en) * | 2022-07-07 | 2023-08-04 | 添可智能科技有限公司 | Cleaning device control method and cleaning device |
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